max-chr/libero_plus_object_texture_all
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "fps": 20, "features": { "observation.state": { "dtype": "float32", "shape": [ 8 ], "names": { "motors": [ "x", "y", "z", "axis_angle1", "axis_angle2"… See the full description on the dataset page: https://huggingface.co/datasets/max-chr/libero_plus_object_texture_all.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=max-chr/liberoplusobjecttexture_all"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"axis_angle1",
"axis_angle2",
"axis_angle3",
"gripper",
"gripper"
]
}
},
"observation.states.ee_state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"x",
"y",
"z",
"axis_angle1",
"axis_angle2",
"axis_angle3"
]
}
},
"observation.states.joint_state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"observation.states.gripper_state": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"gripper",
"gripper"
]
}
},
"observation.images.image": {
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"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
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"video.g": 2,
"video.crf": 30,
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"video.video_backend": "pyav",
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}
},
"observation.images.wrist_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
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"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.frontview_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.sideview_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"axis_angle1",
"axis_angle2",
"axis_angle3",
"gripper"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
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"shape": [
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],
"names": null
}
},
"total_episodes": 903,
"total_frames": 133094,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 1e-06,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "franka",
"splits": {
"train": "0:903"
}
}Citation
BibTeX:
[More Information Needed]